45

log/log.txt

+Failed to connect to broker: Network is unreachable
+Failed to connect to broker: Network is unreachable
+Failed to connect to broker: Network is unreachable
+Failed to connect to broker: Network is unreachable
+Failed to connect to broker: Network is unreachable
+Failed to connect to broker: Network is unreachable
+Failed to connect to broker: Network is unreachable
+Failed to connect to broker: Network is unreachable

main.c

 #include"mqttjson.h"
 #include "ip.h"
+#include "serial.h"
 
 int keepRunning = 1;
 const int gmiddlepwm=0;
@@ -22,6 +23,13 @@ void sleepmsv2(int val){
    
 }
 
+void *usar_Receive(void *arg)
+{
+    printf("serial receive runing");
+    serial_Receive();
+    return NULL;
+}
+
 void *left_function(void *arg)
 { 
     printf("Thread speed is runing\n");
@@ -63,41 +71,21 @@ void *right_function(void *arg)
 }
 
 
-
-
 int main(int argc, char *argv[]) {
-    struct mosquitto *mosq;
-    int rc,ret;
+    
+    
     gStart=time(NULL);
     // 初始化 mosquitto 库
     mosquitto_lib_init();
 
-   
-    // 创建 mosquitto 客户端
-    mosq = mosquitto_new(CLIENT_ID, true, NULL);
-    if (!mosq) {
-        fprintf(stderr, "Failed to create mosquitto client\n");
-        return EXIT_FAILURE;
-    }
-
-    // 设置连接和消息回调
-    mosquitto_connect_callback_set(mosq, on_connect);
-    mosquitto_message_callback_set(mosq, on_message);
-
-    // 设置用户名和密码
-    mosquitto_username_pw_set(mosq, USERNAME, PASSWORD);
-
-    // 连接到 MQTT 代理
-    rc = mosquitto_connect(mosq, BROKER_ADDRESS, BROKER_PORT, 60);
-    if (rc != MOSQ_ERR_SUCCESS) {
-        fprintf(stderr, "Failed to connect to broker: %s\n", mosquitto_strerror(rc));
-        mosquitto_destroy(mosq);
-        return EXIT_FAILURE;
-    }
+    mqtt_Init();
+    
+   serial_Init();
 
     ipaddr();
+    mqtt_wirte(ip_address);
     //printf("%s\n",ip_address);
-   mosquitto_publish(mosq, NULL, "controlship/01", strlen(ip_address), ip_address, 0, false);//将ip发送给mqtt
+   //mosquitto_publish(mosq, NULL, "controlship/02", strlen(ip_address), ip_address, 0, false);//将ip发送给mqtt
 
     if (wiringPiSetup()== -1) {
         printf("pin set fail\n");
@@ -115,7 +103,7 @@ int main(int argc, char *argv[]) {
     pwmSetClock(gRightPwmPin,328);//=19200*1000/(hz*2000)
     pwmSetRange(gRightPwmPin,1000);
 
-    pthread_t thread[2];
+    pthread_t thread[3];
 
     if(pthread_create(&thread[0],NULL,left_function,NULL)!=0)
     {
@@ -129,6 +117,13 @@ int main(int argc, char *argv[]) {
         return 1;
     }
 
+    if(pthread_create(&thread[2],NULL,usar_Receive,NULL)!=0)
+    {
+        perror("Failed to create thread 1");
+        return 1;
+    }
+    
+
     // 开始循环，处理网络流量
     mosquitto_loop_forever(mosq, -1, 1); // -1 表示无限等待，1 表示处理消息的最大数量
 

mqttjson.c

@@ -2,6 +2,7 @@
 
 time_t gStart;
 
+struct mosquitto *mosq;
 
 int gLeftPwmPin = 21;
 int gLeftPwm = 0;
@@ -12,6 +13,36 @@ int gRightPwm = 0;
 int gRightPwmCount = 0;  // 计数
 
 
+void mqtt_wirte(char *message)
+{
+    mosquitto_publish(mosq, NULL, TOPIC, strlen(message), message, 0, false);
+}
+
+int mqtt_Init()
+{
+    int rc;
+      // 创建 mosquitto 客户端
+    mosq = mosquitto_new(CLIENT_ID, true, NULL);
+    if (!mosq) {
+        fprintf(stderr, "Failed to create mosquitto client\n");
+        return EXIT_FAILURE;
+    }
+
+    // 设置连接和消息回调
+    mosquitto_connect_callback_set(mosq, on_connect);
+    mosquitto_message_callback_set(mosq, on_message);
+
+    // 设置用户名和密码
+    mosquitto_username_pw_set(mosq, USERNAME, PASSWORD);
+    // 连接到 MQTT 代理
+    rc = mosquitto_connect(mosq, BROKER_ADDRESS, BROKER_PORT, 60);
+    if (rc != MOSQ_ERR_SUCCESS) {
+        fprintf(stderr, "Failed to connect to broker: %s\n", mosquitto_strerror(rc));
+        mosquitto_destroy(mosq);
+        return EXIT_FAILURE;
+    }
+}
+
 void on_connect(struct mosquitto *mosq, void *obj, int rc) 
 {
     if (rc == 0) 

mqttjson.h

@@ -23,14 +23,15 @@ extern int gRightPwmCount;  // 计数
 
 #define BROKER_ADDRESS "119.45.167.177"
 #define BROKER_PORT 1883
-#define CLIENT_ID "device/tatalship"
-#define TOPIC "controlship/01"
+#define CLIENT_ID "device/tatalship2"
+#define TOPIC "controlship/02"
 #define USERNAME "admin"    // 替换为你的用户名
 #define PASSWORD "admin"       // 替换为你的密码
 
-
+extern struct mosquitto *mosq;
 void on_connect(struct mosquitto *mosq, void *obj, int rc); 
-
+int mqtt_Init();
 void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_message *message);
+void mqtt_wirte(char *message);
 
 #endif

serial.c

+#include"serial.h"
+
+int fd;
+
+int init_serial(const char *port, int baudrate,speed_t baud) 
+{
+    int fd = open(port, O_RDWR | O_NOCTTY | O_NDELAY);
+    if (fd == -1) {
+        perror("open serial port");
+        return -1;
+    }
+
+    struct termios options;
+    tcgetattr(fd, &options);
+
+    // 设置波特率
+    cfsetispeed(&options, baud);
+    cfsetospeed(&options, baud);
+
+    // 配置串口
+    options.c_cflag &= ~PARENB; // 无校验
+    options.c_cflag &= ~CSTOPB; // 1停止位
+    options.c_cflag &= ~CSIZE;  // 清除数据位设置
+    options.c_cflag |= CS8;     // 8数据位
+    options.c_cflag |= CLOCAL | CREAD; // 忽略调制解调器状态，开启接收器
+
+    options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); // 原始模式
+    options.c_iflag &= ~(IXON | IXOFF | IXANY);         // 禁用流控
+    options.c_oflag &= ~OPOST;                         // 原始输出
+
+    tcsetattr(fd, TCSANOW, &options);
+    return fd;
+}
+
+
+// 将NMEA格式的经纬度转换为十进制度
+/*
+double convert_to_decimal(const char *coordinate, char direction) {
+    double degrees, minutes;
+    sscanf(coordinate, "%15lf", &degrees);
+    minutes=degrees%100;
+    degrees=int(degrees/100);
+    degrees += minutes / 60.0;
+    if (direction == 'S' || direction == 'W') {
+        degrees = -degrees;
+    }
+    return degrees;
+}
+*/
+// 解析$GNRMC语句并提取经纬度
+void parse_gnrmc(const char *nmea_sentence) {
+    char time[11], status, lat[20], lat_dir, lon[20], lon_dir;
+
+    if (sscanf(nmea_sentence, "$GNRMC,%10[^,],%c,%[^,],%c,%[^,],%c", time, &status, lat, &lat_dir, lon, &lon_dir) == 6) 
+    {
+        if (status == 'A') 
+        { // 定位有效
+            //double latitude =   convert_to_decimal(lat, lat_dir);
+            //double longitude =  convert_to_decimal(lon, lon_dir);
+
+            printf("Time (UTC): %s\n", time);
+            printf("Latitude: %s\n", lat);
+            printf("Longitude: %s\n", lon);
+            mqtt_wirte(lat);
+            mqtt_wirte(lon);
+        } 
+        else 
+        {
+            printf("GNRMC data is invalid (status: %c)\n", status);
+        }
+    } 
+    else 
+    {
+        printf("Failed to parse GNRMC sentence.\n");
+    }
+}
+
+
+
+void serial_Receive() {
+    char buffer[BUFFER_SIZE];
+    char nmea_sentence[BUFFER_SIZE];
+    int index=0;
+    //mosq = mosquitto_new(CLIENT_ID, true, NULL);
+    while (1) 
+    { 
+        int bytes_read = read(fd, buffer, BUFFER_SIZE-1);
+        if (bytes_read > 0) 
+        {
+            buffer[bytes_read] = '\0';
+            for (int i = 0; i < bytes_read; i++) 
+            {
+                if (buffer[i] == '$') 
+                {
+                    index = 0; // 新语句开始
+                }
+                if (index < BUFFER_SIZE - 1) 
+                {
+                    nmea_sentence[index++] = buffer[i];
+                    nmea_sentence[index] = '\0';
+                }
+                if (buffer[i] == '\n') 
+                { // 一条语句结束
+                    if (strstr(nmea_sentence, "$GNRMC")) 
+                    {
+                        parse_gnrmc(nmea_sentence); // 解析$GNRMC语句
+                        
+                    }
+                }
+            }   
+        }
+    sleep(3);
+    }
+}
+
+
+
+int serial_Init()
+{
+    fd = init_serial(SERIAL_PORT, 9600,B9600);
+    if (fd == -1) return -1;
+    printf("Serial communication started...\n");
+    
+}

serial.h

+#ifndef __SERIAL_H__
+#define __SERIAL_H__
+
+#include <stdint.h>
+#include <fcntl.h>
+#include <termios.h>
+#include"mqttjson.h"
+
+#define SERIAL_PORT "/dev/ttyS2" // 根据实际设备修改
+#define BUFFER_SIZE 256
+
+void serial_Receive(); 
+int serial_Init();
+#endif
\ No newline at end of file